Diff: main.cpp

Revision:

90:38dfa3f350aa

Parent:

89:c55aa4c1187f

Child:

91:cd9fcd45ecf6

--- a/main.cpp	Tue Aug 01 23:46:04 2017 +0000
+++ b/main.cpp	Thu Aug 17 02:42:30 2017 +0000
@@ -1,120 +1,25 @@
-/**
- ******************************************************************************
- * @file    main.cpp
- * @author  AST / EST
- * @version V0.0.1
- * @date    14-August-2015
- * @brief   Simple Example application for using the X_NUCLEO_IKS01A1 
- *          MEMS Inertial & Environmental Sensor Nucleo expansion board.
- ******************************************************************************
- * @attention
- *
- * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
- *
- * Redistribution and use in source and binary forms, with or without modification,
- * are permitted provided that the following conditions are met:
- *   1. Redistributions of source code must retain the above copyright notice,
- *      this list of conditions and the following disclaimer.
- *   2. Redistributions in binary form must reproduce the above copyright notice,
- *      this list of conditions and the following disclaimer in the documentation
- *      and/or other materials provided with the distribution.
- *   3. Neither the name of STMicroelectronics nor the names of its contributors
- *      may be used to endorse or promote products derived from this software
- *      without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
- *  SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
- * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
- * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- *
- ******************************************************************************
+/*main.cpp*/
+#include "mbed.h"
+#include "x_nucleo_iks01a1.h"
+#include "sensor.h"
+#include "buffer.h"
+
+Thread sensorThread;
+
+/* Simple main function that calls the required functions*/
+int main() {
+
+  printf("\r\n--- Starting new run ---\r\n");
+
+  wait(3);
+
+  while (1) {
+     
+    sensorThread.start(sensor_run);
+    print_averages();     
+    
+    wait(0.1);
+  }
 
 
- HINTS:
- 
- Use a Ticker for accurate sampling, but do NOT use printf or locks inside an ISR. Instead, use a MailBox to safely move data across from an ISR to a Thread
- Many functions in MBED are thread-safe - check the online docs
- 
- For buffering, use an Array (of structures) and the producer-consumer pattern (or a variant of it).
- DO NOT use a mailbox or queue to perform the buffering
- 
- Perform serial comms on another thread
- 
- Beware of a thread running out of stack space. If you have to use a lot of local variable data, consider increasing the size of the stack for the respective thread. See the constructor for Thread in the docs
- 
- In terms of diagnostics, consider the following type of information:
- 
- An indication that the sampling is running (not every sample maybe, but a heart-beat type indication)
- An error if the buffer is full
- An warning if the buffer is empty
- Anything that helps diagnose a deadlock (e.g. output a message / toggle an LED before a lock is taken and after it is released)
- 
- For high marks in the logging aspect, remember that although printf is thread safe (not interrupt safe), printf from multiple threads will result in interleaved text.
- To solve this, have a logging thread that queues up whole messages and write them to the serial interface one at a time - this is ambitious but can be done
-*/ 
-
-/* Includes */
-#include "mbed.h"
-//#include "rtos.h"
-#include "x_nucleo_iks01a1.h"
-
-/* Instantiate the expansion board */
-static X_NUCLEO_IKS01A1 *mems_expansion_board = X_NUCLEO_IKS01A1::Instance(D14, D15);
-
-/* Retrieve the composing elements of the expansion board */
-static GyroSensor *gyroscope = mems_expansion_board->GetGyroscope();
-static MotionSensor *accelerometer = mems_expansion_board->GetAccelerometer();
-static MagneticSensor *magnetometer = mems_expansion_board->magnetometer;
-
-extern char *printDouble(char* str, double v, int decimalDigits=2);
-
-typedef struct  {
-    int32_t x;
-    int32_t y;
-    int32_t z;
-} AccelData;
-
-/* Simple main function */
-int main() {
-  uint8_t id;
-  int32_t axes[3];
-  
-  printf("\r\n--- Starting new run ---\r\n");
-  
-  accelerometer->ReadID(&id);
-  printf("LSM6DS0 Accelerometer             = 0x%X\r\n", id);
-  magnetometer->ReadID(&id);
-  printf("LIS3MDL magnetometer              = 0x%X\r\n", id);
-  gyroscope->ReadID(&id);
-  printf("LSM6DS0 accelerometer & gyroscope = 0x%X\r\n", id);
-  
-  wait(3);
- 
-  while(1) {
-    printf("\r\n");
-
-    magnetometer->Get_M_Axes(axes);
-    printf("LIS3MDL [mag/mgauss]:  %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);
-
-    accelerometer->Get_X_Axes(axes);
-    
-    AccelData d;
-    d.x = axes[0];
-    d.y = axes[1];
-    d.z = axes[2];
-    
-    printf("LSM6DS0 [acc/mg]:      %6ld, %6ld, %6ld\r\n", d.x, d.y, d.z);
-    
-    gyroscope->Get_G_Axes(axes);
-    printf("LSM6DS0 [gyro/mdps]:   %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);
-
-    //This is not a good way to do accurate sampling - I reccomend a Ticker
-    wait(1.5);
-  }
 }